Omron G5 Series User Manual page 438

9 Adjustment Functions
Position Control Mode Adjustment
Use the following procedure to perform the adjustment in position control for the OMNUC G5-series
Servo Drive (Pulse-train Input Type).
Disable realtime autotuning (Pn002 = 0).
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Increase Speed Loop Gain (Pn101) to
the extent that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102)
to the extent that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
Increase position loop gain to the extent
that overshooting does not occur.
Write to the EEPROM in the Parameter Write mode.
9 - 12
Start adjustment.
No
No
Adjustment completed.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Never adjust or set parameters to extreme
values, as it will make the operation unstable.
Failure to follow this guideline may result in
injury. Gradually change the value to adjust
the gain while checking the motor operation.
Yes
Adjustment completed.
Yes
Decrease Speed Loop Gain (Pn101).
Increase Speed Loop Integral Time Constant (Pn102).
If vibration persists after repeated
adjustments or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207),
or Notch 4 Frequency Setting (Pn210).